CN116700110B - Distributed drive new energy vehicle control method based on multi-module division - Google Patents
Distributed drive new energy vehicle control method based on multi-module division Download PDFInfo
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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- H—ELECTRICITY
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- H04L67/00—Network arrangements or protocols for supporting network services or applications
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Abstract
本发明提出了一种基于多模块划分的分布式驱动新能源汽车控制方法，通过发送非标准帧来制造DOS攻击，所述测试方法的步骤如下：步骤A：判断此时总线上使用的帧类型，其帧类型包括标准帧或/和扩展帧；步骤B：整车状态保持不变，使用CAN信号收发单元周期性的发送非此网段帧类型的其他类型数据帧；步骤C：如果不同，则判断该数值的性质是不变数值，还是变化数值，且变化规律是否相同；步骤D：停止DOS攻击，使用CAN信号收发单元接收整车报文，同时使用CAN总线异常分析单元分析ECU发送的报文在攻击移除后是否正常。本发明通过发送错误帧、异常帧、非标准帧等方式使ECU在这些情况下出现异常情况，从而使整车出现异常，以此来达到攻击的目的。
The present invention proposes a distributed drive new energy vehicle control method based on multi-module division, which creates DOS attacks by sending non-standard frames. The steps of the test method are as follows: Step A: Determine the frame type used on the bus at this time , the frame type includes standard frames or/and extended frames; Step B: The vehicle status remains unchanged, and the CAN signal transceiver unit is used to periodically send other types of data frames that are not of this network segment frame type; Step C: If different, Then determine whether the nature of the value is a constant value or a changing value, and whether the changing rules are the same; Step D: Stop the DOS attack, use the CAN signal transceiver unit to receive the vehicle message, and use the CAN bus anomaly analysis unit to analyze the ECU sent Whether the packet is normal after the attack is removed. The present invention achieves the purpose of attack by sending error frames, abnormal frames, non-standard frames, etc. to cause abnormal conditions in the ECU under these circumstances, thereby causing the entire vehicle to become abnormal.
Description
Technical Field
The invention relates to the technical field of vehicle-mounted network attack testing, in particular to a distributed driving new energy automobile control method based on multi-module division.
Background
The CAN is a serial communication protocol bus for real-time application and effectively supporting a distributed control system, is one of the most widely used field buses in global application, has high real-time property and strong anti-interference capability, and is suitable for automobiles and industrial control applications.
With the development of the internet of vehicles technology, the safety of the vehicle-mounted network is paid more attention to, the safety of the vehicle-mounted network system is related to the life and property safety of users, and if the vehicle-mounted network system is attacked maliciously, the whole system network cannot work normally, so that enterprise clients suffer significant losses. In order to improve the safety and stability of the CAN network, problems are found by network attack means in various aspects, and measures are taken in time to avoid risks.
Disclosure of Invention
The invention aims at least solving the technical problems in the prior art, and particularly creatively provides a distributed driving new energy automobile control method based on multi-module division.
In order to achieve the above object of the present invention, the present invention provides a distributed driving new energy automobile control method based on multi-module division, which makes DOS attack by transmitting a non-standard frame, the steps of the test method are as follows:
step A: the method comprises the steps of accessing test equipment, receiving a whole vehicle message by using a CAN signal receiving and transmitting unit, wherein the whole vehicle state is power-on, collecting the message normally sent by the whole vehicle ECU at the moment, and judging the frame type used on a bus at the moment, wherein the frame type comprises a standard frame or/and an extended frame;
and (B) step (B): the whole vehicle state is kept unchanged, and other types of data frames which are not the network segment frame types are periodically transmitted by using the CAN signal receiving and transmitting unit;
step C: analyzing whether the message period and the data section content sent by the ECU at the moment are the same as those before attack or not by a CAN bus anomaly analysis unit; if the values are different, judging whether the properties of the values are unchanged values or changed values, and judging whether the change rules are the same or not;
step D: stopping DOS attack, using the CAN signal receiving and transmitting unit to receive the whole vehicle message, and using the CAN bus anomaly analysis unit to analyze whether the message sent by the ECU is normal after the attack is removed.
The invention also discloses a distributed driving new energy automobile control method based on multi-module division, which transmits messages with different rates to attack a network, and the testing method comprises the following steps:
step A: the whole vehicle is powered on, connected with test equipment, receives a whole vehicle message by using a CAN signal receiving and transmitting unit, and judges the communication rate used on the bus at the moment;
and (B) step (B): transmitting a message at a communication rate different from that of the network segment by using a CAN signal receiving and transmitting unit;
step C: analyzing whether the message period and the data segment content sent by the state ECU of the network are the same as those before attack or not through a CAN bus abnormality analysis unit; if the values are different, judging whether the properties of the values are unchanged values or changed values, and judging whether the change rules are the same or not;
step D: stopping DOS attack, using the CAN signal receiving and transmitting unit to receive the whole vehicle message, and simultaneously using the CAN bus abnormality analysis unit ECU to send the message whether the message is normal after the attack is removed.
The invention also discloses a distributed driving new energy automobile control method based on multi-module division, which uses the CAN signal receiving and transmitting unit to send error frames, and the testing method comprises the following steps:
step A: the method comprises the steps of accessing test equipment, receiving a whole vehicle message by using a CAN signal receiving and transmitting unit, powering up the whole vehicle, and collecting the message normally sent by the whole vehicle ECU at the moment;
and (B) step (B): the CAN signal receiving and transmitting unit is used for transmitting error frames, the number of the error frames is gradually increased until the CAN bus anomaly analysis unit analyzes whether the message period and the data segment content transmitted by the state ECU of the network are different from those before attack; or stopping the attack if the attack time reaches a set value;
step C: stopping DOS attack, using the CAN signal receiving and transmitting unit to receive the whole vehicle message, and using the CAN bus anomaly analysis unit to analyze whether the message sent by the ECU is normal after the attack is removed.
The invention also discloses a distributed driving new energy automobile control method based on multi-module division, which uses the CAN signal receiving and transmitting unit to send messages with different data lengths from the normal messages of the whole automobile, and the testing method comprises the following steps:
step A: the method comprises the steps of accessing test equipment, receiving a whole vehicle message by using a CAN signal receiving and transmitting unit, powering up the whole vehicle, and collecting the message normally sent by the whole vehicle ECU at the moment;
and (B) step (B): analyzing the length of each message by using a CAN bus signal analysis unit, and then transmitting abnormal messages with different lengths from those of normal messages by using a CAN signal receiving and transmitting unit;
step C: using a CAN bus anomaly analysis unit to analyze whether the message period and the data segment content sent by a state ECU of the network are different from those before attack; or stopping the attack if the attack time reaches a set value;
step D: stopping DOS attack, using the CAN signal receiving and transmitting unit to receive the whole vehicle message, and using the CAN bus anomaly analysis unit to analyze whether the message sent by the ECU is normal after the attack is removed.
In a preferred embodiment of the present invention, the above-described test steps are performed while the following operations are performed:
and observing the current state of the detected vehicle, judging whether the obtained current state accords with the expected state, if so, not making any further judgment, otherwise, judging that the state of the CAN detected vehicle is changed due to the aggressiveness test.
The invention also discloses a distributed driving new energy automobile control system based on multi-module division, which comprises a vehicle to be diagnosed and distributed driving new energy automobile test equipment based on multi-module division;
the distributed driving new energy automobile test equipment based on multi-module division is connected with the vehicle to be diagnosed through a CAN bus;
the system also comprises a CAN signal receiving and transmitting unit and a CAN bus anomaly analysis unit;
the CAN signal receiving and transmitting unit is used for transmitting the designed attack-related message;
the CAN bus abnormality analysis unit is used for analyzing and positioning abnormality.
In summary, by adopting the technical scheme, the method and the device enable the ECU to generate abnormal conditions under the conditions by sending error frames, abnormal frames, non-standard frames and the like, so that the whole vehicle is abnormal, and the aim of attack is achieved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
fig. 1 is a schematic block diagram of a flow of the present invention.
Fig. 2 is a schematic block diagram of the connection of the present invention.
Fig. 3 is a schematic circuit connection diagram of a USB data transmission module according to the present invention.
Fig. 4 is a schematic circuit connection diagram of the CAN data transmission module of the present invention.
Fig. 5 is a schematic diagram of circuit connection of the RS232 data transmission module according to the present invention.
Fig. 6 is a schematic circuit connection diagram of a data switching module according to the present invention.
FIG. 7 is a schematic diagram of a key set module circuit connection according to the present invention.
Fig. 8 is a schematic diagram of circuit connection of the indicator light assembly module according to the present invention.
FIG. 9 is a schematic diagram of the circuit connection of the test module of the present invention.
Fig. 10 is a schematic diagram of the circuit connections of the microcontroller of the present invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
The invention discloses a distributed driving new energy automobile test device based on multi-module division, which comprises a test box, wherein a PCB diagnosis circuit board fixed mounting seat for fixedly mounting a PCB diagnosis circuit board is arranged in the test box, the PCB diagnosis circuit board is fixedly mounted on the PCB diagnosis circuit board fixed mounting seat, and as shown in figures 2-10, a microcontroller U1, a USB data transmission module, a CAN data transmission module, an RS232 data transmission module, a key set module and an indicator lamp set module are arranged on the PCB diagnosis circuit board;
the front of the test box is provided with a touch display screen fixed mounting seat for fixedly mounting a touch display screen, a key set mounting seat for fixedly mounting a key set and an indicator lamp set mounting seat for fixedly mounting an indicator lamp set, the touch display screen is fixedly mounted on the touch display screen fixed mounting seat, the key set is fixedly mounted on the key set mounting seat, and the indicator lamp set is fixedly mounted on the indicator lamp set mounting seat; the left side of the test box is provided with a USB interface mounting seat for fixedly mounting a USB interface JP4, the USB interface JP4 is fixedly mounted on the USB interface mounting seat, the right side of the test box is provided with a CAN interface mounting seat for fixedly mounting a CAN interface JP1 and a CAN interface JP2, the CAN interface JP1 and the CAN interface JP2 are fixedly mounted on the CAN interface mounting seat, the front side of the test box is provided with an RS232 interface mounting seat for fixedly mounting an RS232 interface JP6, the RS232 interface JP6 is fixedly mounted on the RS232 interface mounting seat, the rear side of the test box is provided with a test interface mounting seat for fixedly mounting a test interface JP1, and the test interface JP1 is fixedly mounted on the test interface mounting seat;
the USB data transmission end of the microcontroller U1 is connected with the data transmission end of the USB data transmission module, the CAN data transmission end of the microcontroller U1 is connected with the data transmission end of the CAN data transmission module, the RS232 data transmission end of the microcontroller U1 is connected with the data transmission end of the RS232 data transmission module, the key group end of the microcontroller U1 is connected with the key end of the key group module, and the indication lamp group end of the microcontroller U1 is connected with the indication end of the indication lamp group module; the touch display end of the microcontroller U1 is connected with the touch display end of the touch display screen.
In a preferred embodiment of the present invention, the USB data transmission module includes: the power output end of the USB interface JP4 is respectively connected with the first end of the FUSE1 and the first end of the capacitor C23, the power output end of the USB interface JP4 outputs a power USB_VCC, the second end of the FUSE FUSE1 is respectively connected with the first end of the capacitor C27 and the power input end IN of the voltage reduction chip U2, the second end of the FUSE FUSE1 outputs a power +5V, the second end of the capacitor C27 is connected with the power ground, the power ground end GND of the voltage reduction chip U2 is connected with the power ground, the power output end of the voltage reduction chip U2 is respectively connected with the first end of the capacitor C26, the first end of the capacitor C28 and the first end of the FUSE FUSE2, the second end of the FUSE FUSE2 outputs a power 3V3, and the first end of the capacitor C26 and the first end of the capacitor C28 are respectively connected with the power ground;
the power output grounding end of the USB interface JP4 and the second end of the capacitor C23 are respectively connected with the power ground, the data USB negative end of the USB interface JP4 is connected with the first end of the resistor R6, the second end of the resistor R6 is respectively connected with the first end of the capacitor C24 and the USB data negative end DDM of the microcontroller U1, the data USB positive end of the USB interface JP4 is respectively connected with the first end of the resistor R5 and the first end of the resistor R7, the second end of the resistor R7 is respectively connected with the first end of the capacitor C25 and the USB data positive end DDP of the microcontroller U1, the second end of the capacitor C24 and the second end of the capacitor C25 are respectively connected with the power ground, the second end of the resistor R5 is connected with the collector of the triode Q1, the emitter of the triode Q1 is respectively connected with the power 3V3 and the first end of the resistor R16, and the second end of the resistor R17 is respectively connected with the USB control enabling end PA 8/RTSP 0/NPCS 3 of the microcontroller U1. The resistance of the resistor R16 is 47K, the resistance of the resistor R17 is 1.2K, the model of the triode Q1 is 8550S, the resistance of the resistor R5 is 1.5K, the resistances of the resistor R6 and the resistor R7 are 25 omega, the capacitance of the capacitor C24 and the capacitor C25 is 15pF, the capacitance of the capacitor C23 is 100nF, the capacitance of the capacitor C27 and the capacitor C28 is 47uF, the capacitance of the capacitor C26 is 0.1F, and the model of the buck chip U2 is REG1117-3.3.
In a preferred embodiment of the invention, the CAN data transmission module comprises: the data receiving end RXD of the CAN transceiver U7 is respectively connected with the first end of the resistor R3 and the CAN data transmitting end PA19/CANRX of the microcontroller U1, and the data transmitting end TXD of the CAN transceiver U7 is connected with the CAN data receiving end PA20/CANTX of the microcontroller U1;
the power end VCC of the CAN transceiver U7 is respectively connected with a power supply +5V, the first end of a capacitor C21 and the first end of a capacitor C22, the second end of the capacitor C21 and the second end of the capacitor C22 are respectively connected with power supply ground, the grounding end GND of the CAN transceiver U7 is connected with the power supply ground, and the mode end RS of the CAN transceiver U7 is connected with the additional CAN mode end PA18/SPI0_SPCK of the microcontroller U1;
the CAN data high end CANH of the CAN transceiver U7 is respectively connected with the data high end of the CAN interface JP1 and the data high end of the CAN interface JP2, the CAN data low end CANL of the CAN transceiver U7 is respectively connected with the data low end of the CAN interface JP2 and the first end of the adjustable terminal resistor R4, and the second end of the adjustable terminal resistor R4 is connected with the data low end of the CAN interface JP 1. The resistance value of the resistor R3 is 1.5K, the model of the CAN transceiver U7 is TJA1050, the capacitor C21 is 104, the capacitance value of the capacitor C22 is 10uF, and the resistance value of the adjustable termination resistor R4 is 120Ω.
In a preferred embodiment of the present invention, the RS232 data transmission module includes: the charge pump end V+ of the RS232 chip U3 is connected with the first end of the capacitor C30, the second end of the capacitor C30 is connected with the power ground, the positive end C1+ of the voltage doubling capacitor of the RS232 chip U3 is connected with the first end of the capacitor C32, the voltage doubling capacitor Rong Fuduan C1-of the RS232 chip U3 is connected with the second end of the capacitor C32, the transmitter input end T1in of the RS232 chip U3 is connected with the data end PA1/TXD0 of the microcontroller U1, the receiver output end R1out of the RS232 chip U3 is connected with the data end PA0/RXD0 of the microcontroller U1, the transmitter input end T2in of the RS232 chip U3 is connected with the data end PA28/DTXD 3 of the microcontroller U1, the receiver output end R2 of the RS232 chip U3 is connected with the data end PA27/DRXD/PCK3 of the microcontroller U1, the charge pump end V-of the RS232 chip U3 is connected with the first end of the capacitor C33, and the second end of the capacitor C33 is connected with the power ground;
the power end VCC of the RS232 chip U3 is connected with a power supply 3V3 and a first end of a capacitor C29 respectively, a second end of the capacitor C29 is connected with power supply ground, a voltage doubling capacitor Rong Fuduan C2-of the RS232 chip U3 is connected with a first end of the capacitor C31, a voltage doubling capacitor positive end C2+ of the RS232 chip U3 is connected with a second end of the capacitor C31, a transmitter output end T1out of the RS232 chip U3 is connected with a data receiving end of an RS232 interface JP6, a receiver input end R1out of the RS232 chip U3 is connected with a data transmitting end of the RS232 interface JP6, a grounding end of the RS232 interface JP6 is connected with power supply ground, a transmitter output end T2out of the RS232 chip U3 is connected with a data receiving end of an RS232 interface JP7, and a grounding end of the RS232 interface JP7 is connected with power supply ground; the ground GND of the RS232 chip U3 is connected to the power ground. The capacitance values of the capacitor C29, the capacitor C30, the capacitor C31, the capacitor C32 and the capacitor C33 are 120nf, and the model number of the rs232 chip U3 is MAX3232.
In a preferred embodiment of the present invention, further comprising a data switching module, the data switching module comprising: the data output end of the data switching chip U6 is connected with the data receiving end PA5/RXD1 of the microcontroller U1, the data input end of the data switching chip U6 is connected with the data transmitting end PA6/TXD1 of the microcontroller U1, and the grounding end GND of the data switching chip U6 is connected with the power supply ground;
the power end of the data switching chip U6 is connected with a power supply +5V and the first end of the capacitor C34 respectively, and the second end of the capacitor C34 is connected with the power supply ground; the receiver data positive end of the data switching chip U6 is respectively connected with the first end of a resistor R9, the input end VIN2 of a transient suppressor U4 and the data first positive end of an interface JP5, the second end of the resistor R9 is connected with the power ground, the receiver data negative end of the data switching chip U6 is respectively connected with the first end of a resistor R8, the input end VIN1 of the transient suppressor U4 and the data first negative end of the interface JP5, the second end of the resistor R8 is connected with the power ground, and the ground end of the transient suppressor U4 is connected with the power ground;
the transmitter data negative terminal of the data switching chip U6 is respectively connected with the input end VIN1 of the transient suppressor U5 and the data second negative terminal of the interface JP5, the transmitter data positive terminal of the data switching chip U6 is respectively connected with the input end VIN2 of the transient suppressor U5 and the data second positive terminal of the interface JP5, and the grounding terminal of the transient suppressor U5 is connected with the power supply ground. The data switching chip U6 has a model number MAX488, the capacitor C34 has a capacitance value of 100nF, the resistors R8 and R9 have a resistance value of 3.3K, and the transient suppressor U4 and the transient suppressor U5 have a model number SM712.
In a preferred embodiment of the present invention, the key set module includes: the first end of the key S4 is connected with the first end of the power supply 3V3, the second end of the key S4 is connected with the ERASE end ERASE of the microcontroller U1, the first end of the key S2 is connected with the power supply ground, the second end of the key S2 is connected with the key end PA11/TWCK of the microcontroller U1, the first end of the key S3 is connected with the power supply ground, the second end of the key S3 is connected with the key end PA10/TWD of the microcontroller U1, the first end of the key S5 is connected with the power supply ground, and the second end of the key S5 is connected with the reset end NRST of the microcontroller U1. Wherein the model of the data switching chip U6 is MAX488, the capacitance value of the capacitor C34 is 100nF, the resistance values of the resistor R8 and the resistor R9 are 3.3K,
in a preferred embodiment of the present invention, the indicator light bank module includes: the cathode of the power indicator light LED3 is connected with power ground, the anode of the power indicator light LED3 is connected with the first end of the resistor R10, and the second end of the resistor R10 is connected with the power supply 3V 3; the negative electrode of the indicator light LED11 is connected with the power ground, the positive electrode of the indicator light LED11 is connected with the first end of the resistor R13, and the second end of the resistor R13 is connected with the indicator end PA13/SPI0_NPCS1/PCK1 of the microcontroller U1; the negative electrode of the indicator light LED22 is connected with the power ground, the positive electrode of the indicator light LED22 is connected with the first end of the resistor R14, and the second end of the resistor R14 is connected with the indicator end PA12/SPI0_NPCS0 of the microcontroller U1; the negative pole of pilot lamp LED44 links to each other with power ground, and the positive pole of pilot lamp LED44 links to each other with the first end of resistance R11, and the second end of resistance R11 links to each other with microcontroller U1's pilot terminal PA7/SCK1/SPI0_NPCS 1. The resistances of the resistors R10, R11, R13, and R14 are 2.2K.
In a preferred embodiment of the present invention, further comprising a test module, the test module comprising: the test data input end TDI of the microcontroller U1 is respectively connected with the first end of a resistor R55 and the test data output end of a test interface JP1, and the second end of the resistor R55 is connected with a power supply 3V 3; the test mode selection end TMS of the microcontroller U1 is respectively connected with the first end of the resistor R53 and the test mode selection end of the test interface JP1, and the second end of the resistor R53 is connected with the power supply 3V 3; the test clock end TCK of the microcontroller U1 is respectively connected with the first end of the resistor R51 and the test clock end of the test interface JP1, and the second end of the resistor R51 is connected with the power supply 3V 3; the test data output end of the microcontroller U1 is connected with the test data input end of the test interface JP 1; the wiper end NRST of the microcontroller U1 is respectively connected with the first end of the resistor R15 and the wiper end of the test interface JP1, and the second end of the resistor R15 is connected with the power supply 3V 3; the power supply 3V3 is connected to the first end of the resistor R57, the second end of the resistor R51 is connected to the first test end of the test interface JP1, the power supply 3V3 is connected to the second test end of the test interface JP1, and the ground end of the test interface JP1 is connected to the power supply ground. The resistance of the resistor R15 is 10K, and the resistances of the resistors R51, R53, R55, and R57 are 4.7K.
In a preferred embodiment of the present invention, the voltage stabilizing output terminal VDDOUT of the microcontroller U1 is connected to the power supply terminal VDDCORE of the microcontroller U1, the first terminal of the capacitor C3, the first terminal of the capacitor C4, the first terminal of the capacitor C5, the first terminal of the capacitor C6 and the first terminal of the capacitor C18, and the second terminal of the capacitor C3, the second terminal of the capacitor C4, the second terminal of the capacitor C5, the second terminal of the capacitor C6 and the second terminal of the capacitor C18 are connected to the power supply ground, respectively; the power supply end VDDIO of the microcontroller U1 is respectively connected with the first end of a capacitor C7, the first end of a capacitor C8, the first end of a capacitor C9, the first end of a capacitor C10, the first end of a capacitor C11 and a power supply 3V3, and the second end of the capacitor C7, the second end of the capacitor C8, the second end of the capacitor C9, the second end of the capacitor C10 and the second end of the capacitor C11 are respectively connected with power supply ground; the grounding end of the microcontroller U1 is connected with the power supply ground; the crystal oscillator end XIN of the microcontroller U1 is respectively connected with the first end of the capacitor C12 and the first end of the crystal oscillator Y1, the crystal oscillator end XOUT of the microcontroller U1 is respectively connected with the first end of the capacitor C13 and the second end of the crystal oscillator Y1, and the second end of the capacitor C12 and the second end of the capacitor C13 are respectively connected with power supply ground; the power supply end VDDCLL of the microcontroller U1 is respectively connected with the first end of the capacitor C14 and the voltage-stabilizing output end VDDOUT of the microcontroller U1, and the second end of the capacitor C14 is connected with power supply ground; the filter end of the microcontroller U1 is respectively connected with the first end of the capacitor C15 and the first end of the resistor R2, the second end of the resistor R2 is connected with the first end of the capacitor C16, and the second end of the capacitor C15 and the second end of the capacitor C16 are respectively connected with power ground; the power supply end VDDIN of the microcontroller U1 is respectively connected with a power supply 3V3, a first end of a capacitor C1 and a first end of a capacitor C17, and a second end of the capacitor C1 and a second end of the capacitor C17 are respectively connected with power supply ground; the power supply end VDDBSH of the microcontroller U1 is respectively connected with the power supply 3V3 and the first end of the capacitor C2, and the second end of the capacitor C2 is respectively connected with the power supply ground; the analog-digital voltage reference end of the microcontroller U1 is respectively connected with the first end of the capacitor C19 and the first end of the inductor L1, the second end of the inductor L1 is respectively connected with the first end of the capacitor C20 and the power supply 3V3, and the second end of the capacitor C19 and the second end of the capacitor C20 are respectively connected with the power supply ground. The capacitance value of the capacitor C18 is 10uF, the capacitance values of the capacitors C3-C11 are 100nF, the capacitance values of the capacitors C12 and C13 are 10pF, the frequency of the crystal oscillator Y1 is 18.4MHz, the capacitance value of the capacitor C15 is 1nF, the capacitance values of the capacitors C1, C2, C14, C17, C19 and C20 are 100nF, the capacitance value of the capacitor C16 is 10nF, and the model of the microcontroller U1 is ATM89C52.
The invention also discloses a distributed driving new energy automobile control system based on multi-module division, which comprises a vehicle to be diagnosed and distributed driving new energy automobile test equipment based on multi-module division;
the distributed driving new energy automobile test equipment based on multi-module division is connected with the vehicle to be diagnosed through a CAN bus; the USB interface JP4 is connected with a +5V power connector, and +5V power is input to the USB interface JP 4.
The system also comprises a CAN signal receiving and transmitting unit and a CAN bus anomaly analysis unit;
the CAN signal receiving and transmitting unit is used for transmitting the designed attack-related message;
the CAN bus abnormality analysis unit is used for analyzing and positioning abnormality.
The invention also discloses a distributed driving new energy automobile control method based on multi-module division, which comprises the following steps of:
step A: the method comprises the steps of accessing test equipment, receiving a whole vehicle message by using a CAN signal receiving and transmitting unit, wherein the whole vehicle state is power-on, collecting the message normally sent by the whole vehicle ECU at the moment, and judging the frame type used on a bus at the moment, wherein the frame type comprises a standard frame or/and an extended frame;
and (B) step (B): the whole vehicle state is kept unchanged, and other types of data frames which are not the network segment frame types are periodically transmitted by using the CAN signal receiving and transmitting unit;
step C: analyzing whether the message period and the data section content sent by the ECU at the moment are the same as those before attack or not by a CAN bus anomaly analysis unit; if the values are different, judging whether the properties of the values are unchanged values or changed values, and judging whether the change rules are the same or not;
step D: stopping DOS attack, using the CAN signal receiving and transmitting unit to receive the whole vehicle message, and using the CAN bus anomaly analysis unit to analyze whether the message sent by the ECU is normal after the attack is removed.
The invention also discloses a distributed driving new energy automobile control method based on multi-module division, which transmits messages with different rates to attack a network, and the testing method comprises the following steps:
step A: the whole vehicle is powered on, connected with test equipment, receives a whole vehicle message by using a CAN signal receiving and transmitting unit, and judges the communication rate used on the bus at the moment;
and (B) step (B): transmitting a message at a communication rate different from that of the network segment by using a CAN signal receiving and transmitting unit;
step C: analyzing whether the message period and the data segment content sent by the state ECU of the network are the same as those before attack or not through a CAN bus abnormality analysis unit; if the values are different, judging whether the properties of the values are unchanged values or changed values, and judging whether the change rules are the same or not;
step D: stopping DOS attack, using the CAN signal receiving and transmitting unit to receive the whole vehicle message, and simultaneously using the CAN bus abnormality analysis unit ECU to send the message whether the message is normal after the attack is removed.
The invention also discloses a distributed driving new energy automobile control method based on multi-module division, which uses the CAN signal receiving and transmitting unit to send error frames, as shown in figure 1, and comprises the following steps:
step A: the method comprises the steps of accessing test equipment, receiving a whole vehicle message by using a CAN signal receiving and transmitting unit, powering up the whole vehicle, and collecting the message normally sent by the whole vehicle ECU at the moment;
and (B) step (B): the CAN signal receiving and transmitting unit is used for transmitting error frames, the number of the error frames is gradually increased until the CAN bus anomaly analysis unit analyzes whether the message period and the data segment content transmitted by the state ECU of the network are different from those before attack; or stopping the attack if the attack time reaches a set value;
step C: stopping DOS attack, using the CAN signal receiving and transmitting unit to receive the whole vehicle message, and using the CAN bus anomaly analysis unit to analyze whether the message sent by the ECU is normal after the attack is removed.
The invention also discloses a distributed driving new energy automobile control method based on multi-module division, which uses the CAN signal receiving and transmitting unit to send messages with different data lengths from the normal messages of the whole automobile, and the testing method comprises the following steps:
step A: the method comprises the steps of accessing test equipment, receiving a whole vehicle message by using a CAN signal receiving and transmitting unit, powering up the whole vehicle, and collecting the message normally sent by the whole vehicle ECU at the moment;
and (B) step (B): analyzing the length of each message by using a CAN bus signal analysis unit, and then transmitting abnormal messages with different lengths from those of normal messages by using a CAN signal receiving and transmitting unit;
step C: using a CAN bus anomaly analysis unit to analyze whether the message period and the data segment content sent by a state ECU of the network are different from those before attack; or stopping the attack if the attack time reaches a set value;
step D: stopping DOS attack, using the CAN signal receiving and transmitting unit to receive the whole vehicle message, and using the CAN bus anomaly analysis unit to analyze whether the message sent by the ECU is normal after the attack is removed.
In a preferred embodiment of the present invention, the above-described test steps are performed while the following operations are performed:
and observing the current state of the detected vehicle, judging whether the obtained current state accords with the expected state, if so, not making any further judgment, otherwise, judging that the state of the CAN detected vehicle is changed due to the aggressiveness test.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (6)
1. A distributed driving new energy automobile control method based on multi-module division, characterized in that DOS attack is manufactured by sending non-standard frames, the control method comprises the following steps:
step A: the method comprises the steps of accessing test equipment, receiving a whole vehicle message by using a CAN signal receiving and transmitting unit, wherein the whole vehicle state is power-on, collecting the message normally sent by the whole vehicle ECU at the moment, and judging the frame type used on a bus at the moment, wherein the frame type comprises a standard frame or/and an extended frame;
and (B) step (B): the whole vehicle state is kept unchanged, and other types of data frames which are not the network segment frame types are periodically transmitted by using the CAN signal receiving and transmitting unit;
step C: analyzing whether the message period and the data section content sent by the ECU at the moment are the same as those before attack or not by a CAN bus anomaly analysis unit; if the message period and the data section content sent by the ECU are different, judging whether the property of the numerical value in the message period and the data section content is a constant numerical value or a variable numerical value, and judging whether the change rule is the same;
step D: stopping DOS attack, using the CAN signal receiving and transmitting unit to receive the whole vehicle message, and using the CAN bus anomaly analysis unit to analyze whether the message sent by the ECU is normal after the attack is removed.
2. The method for controlling a distributed driving new energy automobile based on multi-module division according to claim 1, wherein messages with different rates are sent to attack a network, and the testing method comprises the following steps:
step A: the whole vehicle is powered on, connected with test equipment, receives a whole vehicle message by using a CAN signal receiving and transmitting unit, and judges the communication rate used on the bus at the moment;
and (B) step (B): transmitting a message at a communication rate different from that of the network segment by using a CAN signal receiving and transmitting unit;
step C: analyzing whether the message period and the data segment content sent by the state ECU of the network are the same as those before attack or not through a CAN bus abnormality analysis unit; if the message period and the data section content sent by the ECU are different, judging whether the property of the numerical value in the message period and the data section content is a constant numerical value or a variable numerical value, and judging whether the change rule is the same;
step D: stopping DOS attack, using the CAN signal receiving and transmitting unit to receive the whole vehicle message, and simultaneously using the CAN bus abnormality analysis unit ECU to send the message whether the message is normal after the attack is removed.
3. The multi-module division-based control method for a distributed-type driving new energy automobile according to claim 1, wherein the error frame is transmitted by using a CAN signal transceiver unit, and the testing method comprises the steps of:
step A: the method comprises the steps of accessing test equipment, receiving a whole vehicle message by using a CAN signal receiving and transmitting unit, powering up the whole vehicle, and collecting the message normally sent by the whole vehicle ECU at the moment;
and (B) step (B): the CAN signal receiving and transmitting unit is used for transmitting error frames, the number of the error frames is gradually increased until the CAN bus anomaly analysis unit analyzes whether the message period and the data segment content transmitted by the state ECU of the network are different from those before attack; or stopping the attack if the attack time reaches a set value;
step C: stopping DOS attack, using the CAN signal receiving and transmitting unit to receive the whole vehicle message, and using the CAN bus anomaly analysis unit to analyze whether the message sent by the ECU is normal after the attack is removed.
4. The multi-module division-based control method for the distributed-type driving new energy automobile according to claim 1, wherein the method for testing the distributed-type driving new energy automobile comprises the following steps of:
step A: the method comprises the steps of accessing test equipment, receiving a whole vehicle message by using a CAN signal receiving and transmitting unit, powering up the whole vehicle, and collecting the message normally sent by the whole vehicle ECU at the moment;
and (B) step (B): analyzing the length of each message by using a CAN bus signal analysis unit, and then transmitting abnormal messages with different lengths from those of normal messages by using a CAN signal receiving and transmitting unit;
step C: using a CAN bus anomaly analysis unit to analyze whether the message period and the data segment content sent by a state ECU of the network are different from those before attack; or stopping the attack if the attack time reaches a set value;
step D: stopping DOS attack, using the CAN signal receiving and transmitting unit to receive the whole vehicle message, and using the CAN bus anomaly analysis unit to analyze whether the message sent by the ECU is normal after the attack is removed.
5. The multi-module division-based control method for a distributed-type driving new energy automobile according to one of claims 1 to 4, wherein the following operations are performed while the above-mentioned test steps are performed:
and observing the current state of the detected vehicle, judging whether the obtained current state accords with the expected state, if so, not making any further judgment, otherwise, judging that the state of the CAN detected vehicle is changed due to the aggressiveness test.
6. The multi-module division-based distributed driving new energy automobile control method according to one of claims 1 to 4, characterized by comprising a vehicle to be diagnosed and a multi-module division-based distributed driving new energy automobile test device;
the distributed driving new energy automobile test equipment based on multi-module division is connected with the vehicle to be diagnosed through a CAN bus;
the system also comprises a CAN signal receiving and transmitting unit and a CAN bus anomaly analysis unit;
the CAN signal receiving and transmitting unit is used for transmitting the designed attack-related message;
the CAN bus abnormality analysis unit is used for analyzing and positioning abnormality.
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